Multi-joint fingerDouble-source fluid drivingSelf-adaptive graspingBending and side-swing compoundThe middle joint of the finger in traditional multi-finger hand has no ability of bending and side swing motion. To solve this problem, this paper proposes a double-fluid drive method: the double-...
This is the first work on the medical haptic master, which has 6 DOFs controlled by MR actuators. This geometry can decouple rotational motion from translational motion, making this a simple structure with decoupled dynamics. The proposed mechanism and design process of medical haptic systems can ...
Roller and finger motors, in fact, work according to this mechanism. Historically, Latham [1] and Shapiro et al. [2] initially conducted the analysis on peristaltic movement of viscous liquid. They conducted their investigation under creeping flow phenomena. Srinivas et al. [3] presented a ...